Idle Air control valve is the typical problem on all fords, I'd check that as the first thing, a vacuum leak as well, or a bad egr valve, my number one guess is IAC MOTOR. It's easy to replace too, although around sixty or seventy bucks

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stalls , moving, only. at stop lights or between gears.
but never just parked idling.
if its random , that would be the EGR valve sticking open.
if EFI , bad idle switch.
if Carb bad dash pot. on carb.

This sounds like the loss of electrical power because of the lights.Any chance of a broken engine/transmission mount allowing to much movement and breaking a connection? Along this same line, look for a vacuum leak that occurs while in gear. If the o2 sensor code is for a lean condition a vacuum leak could case it and the drivability condition /stalling you are getting. Hope this helps and rate me please!!

Most likely a dirty idle speed control system follow the guidelines below to clean it.

Throttle Body Cleaning on vehicles without electronic throttle control (most 2003 and down)

You can in most cases repair this slow speed stall or unstable idle by cleaning the engine throttle valve and the idle speed control valve using a product called CRC Spray Throttle valve cleaner. Spray the cleaner into the air intake of the engine with the hose removed from the throttle body, the engine will try to stall so hold up the idle speed manually. Once you have used up about 1/2 can of the cleaner stall the engine out while spraying and turn the key off, disconnect the negative battery cable for 5 minutes and then reconnect and drive the car for a about 25 miles of varied driving modes. If this doesn't cure the problem you may need the fuel injectors professionally cleaned by the dealer service dept.

could be a sticking idle air control valve... a little cylinder on the side of your throttle body.. it helps control your idling air fuel ratio.. this goes bad could cause your problems... also easy for you to replace... normally 2 small bolts and a harness.. usually run about 35-85 dollars.. check price and if it's about 35 or so.. i'd go ahead and change it anyways.. 9 years it's probly due.. :D